platform.hpp

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#pragma once
#include <cstdint>

 
#if !defined(HITLIB_PLATFORM_PROS) && !defined(HITLIB_PLATFORM_VEXCODE) && \
    !defined(HITLIB_PLATFORM_HOST)
#  if defined(__has_include)
#    if __has_include("pros/rtos.hpp")
#      define HITLIB_PLATFORM_PROS 1
#    elif __has_include("v5_vcs.h")
#      define HITLIB_PLATFORM_VEXCODE 1
#    endif
#  endif
#endif
 
#ifndef HITLIB_PLATFORM_PROS
#  define HITLIB_PLATFORM_PROS 0
#endif
#ifndef HITLIB_PLATFORM_VEXCODE
#  define HITLIB_PLATFORM_VEXCODE 0
#endif
// Deliberately never auto-detected: a desktop compiler has no header that
// identifies it as "the test platform", and silently picking it would turn a
// misconfigured robot build into one that compiles and drives nothing.
#ifndef HITLIB_PLATFORM_HOST
#  define HITLIB_PLATFORM_HOST 0
#endif
 
#if (HITLIB_PLATFORM_PROS + HITLIB_PLATFORM_VEXCODE + HITLIB_PLATFORM_HOST) > 1
#  error "HitLib: more than one HITLIB_PLATFORM_* macro is set; pick one."
#elif (HITLIB_PLATFORM_PROS + HITLIB_PLATFORM_VEXCODE + HITLIB_PLATFORM_HOST) == 0
#  error "HitLib: couldn't find PROS (pros/rtos.hpp) or the VEX SDK (v5_vcs.h) on the include path. Define HITLIB_PLATFORM_PROS=1 or HITLIB_PLATFORM_VEXCODE=1."
#endif
 
namespace hitlib {
namespace platform {

uint32_t millis();

void delay(uint32_t ms);

void delayUntil(uint32_t& prevMs, uint32_t ms);

void startTask(void (*entry)(void*), void* arg, const char* name);

class Mutex {
public:
    Mutex();
    ~Mutex();
 
    Mutex(const Mutex&)            = delete;
    Mutex& operator=(const Mutex&) = delete;
 
    void take();
    void give();
 
private:
    void* handle;
};

class AdiLed {
public:
    AdiLed(uint8_t smartPort, uint8_t adiPort, uint8_t length);
    ~AdiLed();
 
    AdiLed(const AdiLed&)            = delete;
    AdiLed& operator=(const AdiLed&) = delete;

    void write(const uint32_t* pixels, uint8_t count);
 
private:
    void* impl;
};
 
#if HITLIB_PLATFORM_HOST
namespace host {

void setMillis(uint32_t ms);

void advanceMillis(uint32_t ms);

void reset();

const uint32_t* lastFrame();

uint8_t lastFrameCount();

uint32_t writeCount();

void onWrite(void (*hook)());

void onDelay(void (*hook)(uint32_t ms));

uint32_t heldMutexes();

uint32_t contendedTakes();

uint32_t taskCount();

void runTask(uint32_t index, uint32_t cycles);
 
} // namespace host
#endif // HITLIB_PLATFORM_HOST
 
} // namespace platform
} // namespace hitlib